IL299642A - Synchronized spinning lidar and rolling shutter camera system - Google Patents

Synchronized spinning lidar and rolling shutter camera system

Info

Publication number
IL299642A
IL299642A IL299642A IL29964223A IL299642A IL 299642 A IL299642 A IL 299642A IL 299642 A IL299642 A IL 299642A IL 29964223 A IL29964223 A IL 29964223A IL 299642 A IL299642 A IL 299642A
Authority
IL
Israel
Prior art keywords
camera
fov
lidar sensor
time period
exposure time
Prior art date
Application number
IL299642A
Other languages
Hebrew (he)
Original Assignee
Waymo Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Waymo Llc filed Critical Waymo Llc
Publication of IL299642A publication Critical patent/IL299642A/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/71—Circuitry for evaluating the brightness variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H04N25/53—Control of the integration time
    • H04N25/531—Control of the integration time by controlling rolling shutters in CMOS SSIS
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10144—Varying exposure
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Computer Graphics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Stroboscope Apparatuses (AREA)
  • Studio Devices (AREA)

Claims (20)

CLAIMS:
1. A system comprising: a light detection and ranging (LIDAR) sensor, wherein the LIDAR sensor is configured to perform a scan of an environment based on adjustment of a pointing direction of the LIDAR sensor about an axis, and wherein the adjustment of the pointing direction adjusts a field-of-view (FOV) of the LIDAR sensor; a camera configured to capture images within a FOV of the camera; and a controller coupled to the LIDAR sensor and the camera, wherein the controller is configured to cause the camera to capture an image during an exposure time period, such that the exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps the FOV of the camera.
2. The system of claim 1, wherein the controller is configured to cause the camera to capture the image such that a center of the exposure time period occurs when the FOV of the LIDAR sensor overlaps a center of the FOV of the camera.
3. The system of claim 1, wherein the camera operates in a rolling shutter mode.
4. The system of claim 1, wherein the camera comprises a plurality of rows of sensing elements, wherein each row of the plurality of rows is aligned with the axis.
5. The system of claim 1, wherein the camera is a first camera, further comprising: a second camera configured to capture images within a FOV of the second camera.
6. The system of claim 5, wherein the controller is further configured to cause the second camera to capture a second image during a second exposure time period, such that the second exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps the FOV of the second camera.
7. The system of claim 5, wherein the adjustment of the pointing direction about the axis causes the FOV of the LIDAR sensor to sequentially overlap the FOV of the first camera and the FOV of the second camera during the scan.
8. The system of claim 5, wherein the FOV of the first camera partially overlaps the FOV of the second camera.
9. The system of claim 1, wherein the axis is a vertical axis.
10. The system of claim 1, wherein the LIDAR sensor and the camera are coupled to a vehicle.
11. A method comprising: causing a camera to capture an image during an exposure time period that occurs while a light detection and ranging (LIDAR) sensor is performing a scan of an environment, wherein performing the scan comprises adjusting a pointing direction of the LIDAR sensor about an axis, wherein adjusting the pointing direction adjusts a field-of-view (FOV) of the LIDAR sensor, and wherein the exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps a FOV of the camera.
12. The method of claim 11, wherein a center of the exposure time period occurs when the FOV of the LIDAR sensor overlaps a center of the FOV of the camera.
13. The method of claim 11, wherein the camera operates in a rolling shutter mode.
14. The method of claim 11, wherein the camera comprises a plurality of rows of sensing elements, wherein each row of the plurality of rows is aligned with the axis.
15. The method of claim 11, wherein the camera is a first camera, further comprising: causing a second camera to capture a second image during a second exposure time period, wherein the second exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps a FOV of the second camera.
16. A non-transitory computer readable medium storing instructions executable by a processor to perform functions comprising: causing a camera to capture an image during an exposure time period that occurs while a light detection and ranging (LIDAR) sensor is performing a scan of an environment, wherein performing the scan comprises adjusting a pointing direction of the LIDAR sensor about an axis, wherein adjusting the pointing direction adjusts a field-of-view (FOV) of the LIDAR sensor, and wherein the exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps a FOV of the camera.
17. The non-transitory computer readable medium of claim 16, wherein a center of the exposure time period occurs when the FOV of the LIDAR sensor overlaps a center of the FOV of the camera.
18. The non-transitory computer readable medium of claim 16, wherein the camera operates in a rolling shutter mode.
19. The non-transitory computer readable medium of claim 16, wherein the camera comprises a plurality of rows of sensing elements, wherein each row of the plurality of rows is aligned with the axis.
20. The non-transitory computer readable medium of claim 16, wherein the camera is a first camera, and wherein the functions further comprise: causing a second camera to capture a second image during a second exposure time period, wherein the second exposure time period includes a time when the FOV of the LIDAR sensor at least partially overlaps a FOV of the second camera.
IL299642A 2017-09-28 2018-07-13 Synchronized spinning lidar and rolling shutter camera system IL299642A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/719,366 US10523880B2 (en) 2017-09-28 2017-09-28 Synchronized spinning LIDAR and rolling shutter camera system
PCT/US2018/042095 WO2019067068A1 (en) 2017-09-28 2018-07-13 Synchronized spinning lidar and rolling shutter camera system

Publications (1)

Publication Number Publication Date
IL299642A true IL299642A (en) 2023-03-01

Family

ID=65808450

Family Applications (4)

Application Number Title Priority Date Filing Date
IL299642A IL299642A (en) 2017-09-28 2018-07-13 Synchronized spinning lidar and rolling shutter camera system
IL273524A IL273524B (en) 2017-09-28 2020-03-23 Synchronized spinning lidar and rolling shutter camera system
IL284730A IL284730B (en) 2017-09-28 2021-07-08 Synchronized spinning lidar and rolling shutter camera system
IL291712A IL291712B2 (en) 2017-09-28 2022-03-27 Synchronized spinning lidar and rolling shutter camera system

Family Applications After (3)

Application Number Title Priority Date Filing Date
IL273524A IL273524B (en) 2017-09-28 2020-03-23 Synchronized spinning lidar and rolling shutter camera system
IL284730A IL284730B (en) 2017-09-28 2021-07-08 Synchronized spinning lidar and rolling shutter camera system
IL291712A IL291712B2 (en) 2017-09-28 2022-03-27 Synchronized spinning lidar and rolling shutter camera system

Country Status (10)

Country Link
US (4) US10523880B2 (en)
EP (1) EP3688489B1 (en)
JP (2) JP6854387B2 (en)
KR (2) KR102454144B1 (en)
CN (2) CN118033649A (en)
AU (2) AU2018341833B2 (en)
CA (2) CA3077071C (en)
IL (4) IL299642A (en)
SG (1) SG11202002584YA (en)
WO (1) WO2019067068A1 (en)

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